Considering the turning in place motion as an independent motion which can enhance the mobility of spherical robot,a turning in place motion control method of two pendulums driven spherical robot is studied.First,the mechanism characteristics of two pendulums driven spherical robot are introduced,and then the force condition of turning in place motion is analyzed based on D’alembert’s principle and the motion principle of turning in place motion of two pendulums driven spherical robot is discussed,finally,the dynamic model of turning in place motion is constructed.The whole process of turning in place motion is divided into three stages which are startup stage,stick stage and slip stage respectively,and a stick-slip principle for turning in place motion control is proposed.The effectiveness of the control method is validated by both simulation and prototype experiment.